Swarm aggregation using artificial potential field and fuzzy sliding mode control with adaptive tuning technique

This paper presents a framework for the decentralized control of a self-organizing swarm system. The swarm formation is maintained through artificial potential together with fuzzy sliding mode control (FSMC). The fuzzy parameters associated with the FSMC are estimated using an adaptive algorithm derived using Lyapunov stability theory. The adaptive FSMC thus proposed is intended to compensate for the modeling uncertainties existing in practical applications. It is shown that the proposed FSMC is able to avoid the chattering phenomenon completely as observed in conventional sliding mode control and hence the center of the swarm will become stationary. The simulation results for triangle formulation confirms the stability and robustness of the present scheme for model uncertainties.